摘要
为了提高智能车的控制精度,以碰撞中心(Center of Percussion,COP)为参考点建立前馈-反馈控制模型,并用该控制模型求解LQR(Linear Quadratic Regulator)问题,获得状态反馈控制率,实现最优控制。在双移线工况和8字形工况下,使用Matlab/Simulink和Carsim对LQR轨迹跟踪控制器进行联合仿真。结果表明:与固定增益前馈-反馈控制器相比,LQR轨迹跟踪控制器的控制精度更高。
To improve the control precision of the intelligent vehicle,the feedforward-feedback control model was established with the Center of Percussion(COP)as the reference point.The LQR(Linear Quadratic Regulator)problem was solved with the control model,and the rate of the state feedback control was obtained to achieve the optimal control.Under the double-shift condition and 8-gauge condition,the LQR trajectory tracking controller was simulated with Matlab/Simulink and Carsim.The result shows that the LQR trajectory tracking controller has higher control precision,comparing with the fixed gain feedforward-feedback controller.
出处
《湖北汽车工业学院学报》
2017年第4期1-6,11,共7页
Journal of Hubei University Of Automotive Technology
基金
湖北省自然科学基金项目(2015CFB686)
湖北省技术创新专项重大项目(2017AAA027)
湖北省教育厅科学研究指导性项目(B2015121)
作者简介
陶冰冰（1990-）,男,湖北孝感人,硕士生,从事无人驾驶智能车纵横向控制方面的研究.E-mail：1477416188@qq.com
